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Kaspar Althoefer
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Journal Articles

Six-Dimensional Compliance Analysis and Validation of Orthoplanar Springs

Chen Qiu, Peng Qi, Hongbin Liu, Kaspar Althoefer, Jian S. Dai
Journal: Journal of Mechanical Design
Article Type: Research-Article
J. Mech. Des. April 2016, 138(4): 042301.
Paper No: MD-15-1621
DOI: https://doi.org/10.1115/1.4032580
Published Online: February 19, 2016
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Topics: Springs
Proceedings Papers

Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs

Peng Qi, Hongbin Liu, Lakmal Seneviratne, Kaspar Althoefer
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A033, August 2–5, 2015
Paper No: DETC2015-46503
DOI: https://doi.org/10.1115/DETC2015-46503
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Topics: Design, Engineering prototypes, Kinematics, Robots, Springs, Finite element analysis, Rotation, Bending (Stress), Biomedicine, Modeling
Proceedings Papers

Kinematic Analysis of a Mechanism With Dual Remote Centre of Motion and its Potential Application

Guochao Bai, Peng Qi, Kaspar Althoefer, Duanling Li, Xianwen Kong, Jian S. Dai
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A011, August 2–5, 2015
Paper No: DETC2015-47118
DOI: https://doi.org/10.1115/DETC2015-47118
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Topics: Design engineering, End effectors, Instrumentation, Kinematic analysis, Linkages, Robotics, Surgery, Surgical tools
Proceedings Papers

Six Dimensional Compliance Analysis of Ortho-Planar Springs for a Continuum Manipulator

C. Qiu, P. Qi, H. B. Liu, Kaspar Althoefer, Jian S. Dai
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A036, August 17–20, 2014
Paper No: DETC2014-34607
DOI: https://doi.org/10.1115/DETC2014-34607
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Topics: Manipulators, Springs, Bending (Stress), Biomedicine, Deformation, Engineering prototypes, Engineering simulation, Finite element analysis, Robotics, Screws
Proceedings Papers

Granular Jamming With Hydraulic Control

Allen Jiang, Tomaso Aste, Prokar Dasgupta, Kaspar Althoefer, Thrishantha Nanayakkara
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A021, August 4–7, 2013
Paper No: DETC2013-12213
DOI: https://doi.org/10.1115/DETC2013-12213
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Topics: Compressibility, Hydraulic control, Incompressible fluids, Mechanical admittance, Particulate matter, Pressure, Robotics, Robots, Stiffness, Vacuum
Proceedings Papers

A Variable Stiffness Joint by Granular Jamming

Allen Jiang, Asghar Ataollahi, Kaspar Althoefer, Prokar Dasgupta, Thrishantha Nanayakkara
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 267-275, August 12–15, 2012
Paper No: DETC2012-70670
DOI: https://doi.org/10.1115/DETC2012-70670
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Topics: Stiffness, Manipulators, Robots, Vacuum, Biomedicine, Degrees of freedom, Engines, Flexible manipulators, Membranes, Motors
Journal Articles

Developing a Magnetic Resonance-Compatible Catheter for Cardiac Catheterization

Wei Yao, Tobias Schaeffter, Lakmal Seneviratne, Kaspar Althoefer
Journal: Journal of Medical Devices
Article Type: Research-Article
J. Med. Devices. December 2012, 6(4): 041002.
DOI: https://doi.org/10.1115/1.4007281
Published Online: October 11, 2012
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Topics: Catheters
Proceedings Papers

Development of an Improved Micro Piezoelectric Power Generation/Actuation System for Biomedical and Bio-MEMS Applications

Ashwin Rao, David Noonan, Kaspar Althoefer, Lakmal Seneviratne
Proc. ASME. NANOBIO2006, ASME 2006 Frontiers in Biomedical Devices Conference, 37-38, June 8–9, 2006
Paper No: NANOBIO2006-18021
DOI: https://doi.org/10.1115/NANOBIO2006-18021
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Topics: Biomedical microelectromechanical systems, Biomedicine, Energy generation, Batteries, Condition monitoring, Microelectromechanical systems
Journal Articles

Monitoring of Self-Tapping Screw Fastenings Using Artificial Neural Networks

Kaspar Althoefer, Bruno Lara, Lakmal D. Seneviratne
Journal: Journal of Manufacturing Science and Engineering
Article Type: Technical Briefs
J. Manuf. Sci. Eng. February 2005, 127(1): 236–243.
DOI: https://doi.org/10.1115/1.1831286
Published Online: March 21, 2005
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Topics: Artificial neural networks, Screws, Signals, Torque